基于弹簧小车模型和预观控制的双足快速步行研究  

Research on rapid walking of biped based on spring table cart model and preview control theory

作　　者：吴伟国[1] 侯月阳[1] 姚世斌[1] 

机构地区：[1]哈尔滨工业大学机械设计系仿生仿人机器人及智能运动控制研究室,黑龙江哈尔滨150001

出　　处：《机械设计》2010年第4期84-90,共7页Journal of Machine Design

基　　金：国家863高技术研究发展计划资助项目(2006AA04Z201)

摘　　要：针对机器人的滑动和滑转,补充了机器人稳定步行的修正条件;利用三阶泰勒公式引入舒适度的概念,推导出基于舒适度的ZMP公式;提出一种用于动力学分析的三维弹簧平台-小车模型,通过简化的舒适度ZMP公式推导出该模型的运动规律;基于三维弹簧平台-小车模型,结合预观控制理论生成步行样本;最后,进行了机器人虚拟样机快速步行仿真,步速达到2.088km/h。Stable walking conditions are reinforced for sliding wheelspin of robot. Deduced ZMP formula based on jerk which is introduced by 3 ranks Taylor formula. 3D spring table cart model used for dynamics is proposed and its motion rule is provided through simplified jerk ZMP formula. Walking pattern is generated based on 3D spring table cart model and preview control theory. Finally,dynamics simulation of the 3-D virtual prototype of the biped robot is completed in ADAMS,the Walking speed is 2. 088 km/h.

关 键 词：双足机器人 机器人动力学 快速步行 预观控制 ZMP 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]